Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape

Detection of weak stochastic force in a parametrically stabilized micro opto-mechanical system

Measuring a weak force is an important task for micro-mechanical systems, both when using devices as sensitive detectors and, particularly, in experiments of quantum mechanics. The optimal strategy for resolving a weak stochastic signal force on a huge background (typically given by thermal noise) is a crucial and debated topic, and the stability of the mechanical resonance is a further, related critical issue. We introduce and analyze the parametric control of the optical spring, that allows to stabilize the resonance and provides a phase reference for the oscillator motion, yet conserving a free evolution in one quadrature of the phase space. We also study quantitatively the characteristics of our micro opto-mechanical system as detector of stochastic force for short measurement times (for quick, high resolution monitoring) as well as for the longer term observations that optimize the sensitivity. We compare a simple, naive strategy based on the evaluation of the variance of the displacement (that is a widely used technique) with an optimal Wiener-Kolmogorov data analysis. We show that, thanks to the parametric stabilization of the effective susceptibility, we can more efficiently implement Wiener filtering, and we investigate how this strategy improves the performance of our system. We finally demonstrate the possibility to resolve stochastic force variations well below 1% of the thermal noise

The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking

Background: Robotic ankle-foot prostheses that provide net positive push-off work can reduce the metabolic rate of walking for individuals with amputation, but benefits might be sensitive to push-off timing. Simple walking models suggest that preemptive push-off reduces center-of-mass work, possibly reducing metabolic rate. Studies with bilateral exoskeletons have found that push-off beginning before leading leg contact minimizes metabolic rate, but timing was not varied independently from push-off work, and the effects of push-off timing on biomechanics were not measured. Most lower-limb amputations are unilateral, which could also affect optimal timing. The goal of this study was to vary the timing of positive prosthesis push-off work in isolation and measure the effects on energetics, mechanics and muscle activity. Methods: We tested 10 able-bodied participants walking on a treadmill at 1.25 m.s(-1). Participants wore a tethered ankle-foot prosthesis emulator on one leg using a rigid boot adapter. We programmed the prosthesis to apply torque bursts that began between 46% and 56% of stride in different conditions. We iteratively adjusted torque magnitude to maintain constant net positive push-off work. Results: When push-off began at or after leading leg contact, metabolic rate was about 10% lower than in a condition with Spring-like prosthesis behavior. When push-off began before leading leg contact, metabolic rate was not different from the Spring-like condition. Early push-off led to increased prosthesis-side vastus medialis and biceps femoris activity during push-off and increased variability in step length and prosthesis loading during push-off. Prosthesis push-off timing had no influence on intact-side leg center-of-mass collision work. Conclusions: Prosthesis push-off timing, isolated from push-off work, strongly affected metabolic rate, with optimal timing at or after intact-side heel contact. Increased thigh muscle activation and increased human variability appear to have caused the lack of reduction in metabolic rate when push-off was provided too early. Optimal timing with respect to opposite heel contact was not different from normal walking, but the trends in metabolic rate and center-of-mass mechanics were not consistent with simple model predictions. Optimal push-off timing should also be characterized for individuals with amputation, since meaningful benefits might be realized with improved timing

Vibration isolation with smart fluid dampers: a benchmarking study

The non-linear behaviour of electrorheological (ER) and magnetorheological (MR) dampers makes it difficult to design effective control strategies, and as a consequence a wide range of control systems have been proposed in the literature. These previous studies have not always compared the performance to equivalent passive systems, alternative control designs, or idealised active systems. As a result it is often impossible to compare the performance of different smart damper control strategies. This article provides some insight into the relative performance of two MR damper control strategies: on/off control and feedback linearisation. The performance of both strategies is benchmarked against ideal passive, semi-active and fully active damping. The study relies upon a previously developed model of an MR damper, which in this work is validated experimentally under closed-loop conditions with a broadband mechanical excitation. Two vibration isolation case studies are investigated: a single-degree-of-freedom mass-isolator, and a two-degree-of-freedom system that represents a vehicle suspension system. In both cases, a variety of broadband mechanical excitations are used and the results analysed in the frequency domain. It is shown that although on/off control is more straightforward to implement, its performance is worse than the feedback linearisation strategy, and can be extremely sensitive to the excitation conditions

Are there environmental or agricultural benefits in using forest residue biochar in boreal agricultural clay soil?

Short-term agronomic and environmental benefits are fundamental factors in encouraging farmers to use biochar on a broad scale. The short-term impacts of forest residue biochar (BC) on the productivity and carbon (C) storage of arable boreal clay soil were studied in a field experiment. In addition, rain simulations and aggregate stability tests were carried out to investigate the potential of BC to reduce nutrient export to surface waters. A BC addition of 30 t ha−1 increased soil test phosphorus and decreased bulk density in the surface soil but did not significantly change pH or water retention properties, and most importantly, did not increase the yield. There were no changes in the bacterial or fungal communities, or biomasses. Soil basal respiration was higher in BC-amended plots in the spring, but no differences in respiration rates were detected in the fall two years after the application. Rain simulation experiments did not support the use of BC in reducing erosion or the export of nutrients from the field. Of the C added, on average 80% was discovered in the 0–45 cm soil layer one year after the application. Amendment of boreal clay soil with a high rate of BC characterized by a moderately alkaline pH, low surface functionalities, and a recalcitrant nature, did not induce such positive impacts that would unambiguously motivate farmers to invest in BC. BC use seems unviable from the farmer's perspective but could play a role in climate change mitigation, as it will likely serve as long-term C storage.202

Candidate proof mass actuator control laws for the vibration suppression of a frame

The vibration of an experimental flexible space truss is controlled with internal control forces produced by several proof mass actuators. Four candidate control law strategies are evaluated in terms of performance and robustness. These control laws are experimentally implemented on a quasi free-free planar truss. Sensor and actuator dynamics are included in the model such that the final closed loop is self-equilibrated. The first two control laws considered are based on direct output feedback and consist of tuning the actuator feedback gains to the lowest mode intended to receive damping. The first method feeds back only the position and velocity of the proof mass relative to the structure; this results in a traditional vibration absorber. The second method includes the same feedback paths as the first plus feedback of the local structural velocity. The third law is designed with robust H infinity control theory. The fourth strategy is an active implementation of a viscous damper, where the actuator is configured to provide a bending moment at two points on the structure. The vibration control system is then evaluated in terms of how it would benefit the space structure's position control system